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9. HEART BEAT MESSAGE

The heartbeat mechanism for a CANopen device is established by cyclically transmitting the heartbeat

message by the heartbeat producer. One or more CANopen devices in the network are aware of this

heartbeat message. If the heartbeat cycle fails for the heartbeat producer the local application on the

heartbeat consumer will be informed about that event.

If a CANopen device starts with a value for the heartbeat producer time unequal to 0 the boot-up message

is regarded as ﬁrst heartbeat message.

Identiﬁer

700h + current CAN ID

Default 715h

Byte 0

XXh

XXh :State of heartbeat producer

00h: Boot-up

05h: Operational

7Fh: Pre-operational

Direction

Identifier

Format

Message

Data

From Keypad

715h

Std

00h

Boot up

From Keypad

715h

Std

7Fh

Pre-operational

To keypad

00h

Std

01h 15h

Start keypad with CAN id =15h

From Keypad

715h

Std

05h

Operational

Blink S.r.l.

Via

Montefeltro, 6

- 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697

www.blinkmarine.com - [email protected]

Example:

FOR REFERENCE ON

Содержание PoweKey PRO 2200

Страница 1: ...PKPCANopenUM_REV1 4 Blink S r l Via 0RQWHIHOWUR 20156 Milano Italy Tel 39 02 3088583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com PoweKey PRO CANopen Programmers Manual ...

Страница 2: ...bject 6500h Command Module 11 a Set single LED state 01h 11 b Set LED brightness level 02h 11 c Set backlight brightness level 03h 12 d Set device active on startup 10h 12 e Set device baud rate 11h 12 f Set periodic transmission 12h 13 g Set Boot up service 13h 13 h Set CANopen node ID 70h 13 i Set default startup LED light level 7Ch 14 j Set default startup backlight level 7Bh 14 k Set DEMO mode...

Страница 3: ...ision 27 22 Object 100Bh Model ID 27 23 Object 1018h Identity Data 28 24 Object 1400h Receive PDO Communication Parm 0 30 25 Object 1401h Receive PDO communication Parm 1 30 26 Object 1600h Output Descriptions 31 27 Object 1800h Transmit PDO Communication Parm 0 32 28 Object 1A00h Inputs description 32 29 Object 6100h Device ﬁrmware speciﬁc 33 30 Object 6201 Device brightness control 34 a Read bri...

Страница 4: ...eﬂections on the bus You may need to place a 120Ω resistor between CAN L and CAN H 2 REFERENCE Front view PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V Blink S r l Via 0RQWHIHOWUR 20156 Milano Italy Tel 39 02 3088583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com 04 FOR REFERENCE ONLY ...

Страница 5: ...NMT services CANopen devices are initialized started reset or stopped All CANopen devices are regarded as NMT slaves NMT messages have CAN ID always equal to 00h 4 START CANOPEN NODE KEYPAD ACTIVATION MESSAGE Identiﬁer 00h Byte 0 01h Start CANopen node Byte 1 XXh Keypad CAN ID 00h start all the keypads 15h start the keypad with CAN ID 15h Byte 2 7 00h Not used Direction Identifier Format Message T...

Страница 6: ... the keypad with CAN ID 15h Byte 2 7 00h Not used Direction Identifier Format Message To Keypad 0 Std 81 15 7 STOP CANOPEN NODE 8 BOOT UP SERVICE This service is used to signal that a NMT slave has entered the NMT state Pre operational Identiﬁer 700h current CAN ID Default 715h Byte 0 00h One data byte is transmitted with value 0 Direction Identifier Format Message From Keypad 715h Std 00h The key...

Страница 7: ...a value for the heartbeat producer time unequal to 0 the boot up message is regarded as ﬁrst heartbeat message Identiﬁer 700h current CAN ID Default 715h Byte 0 XXh XXh State of heartbeat producer 00h Boot up 05h Operational 7Fh Pre operational Direction Identifier Format Message Data From Keypad 715h Std 00h Boot up From Keypad 715h Std 7Fh Pre operational To keypad 00h Std 01h 15h Start keypad w...

Страница 8: ...to 8 K8 K7 K6 K5 K4 K3 K2 K1 Keys 1 on 0 oﬀ Byte 1 3 00h Not used Byte 4 XXh Tick Timer Direction Identifier Format Message Key state From Keypad 195 Std 00 00 00 00 XX No key pressed From Keypad 195 Std 01 00 00 00 XX Key 1 pressed From Keypad 195 Std 02 00 00 00 XX Key 2 pressed From Keypad 195 Std 42 00 00 00 XX Keys 7 and 2 pressed PKP 2600 Identiﬁer 180 current CAN ID Default 195h Byte 0 Keys...

Страница 9: ...00 00 00 To Keypad 215 Std Only red LED 8 on To Keypad 215 Std 00 10 00 00 00 00 00 00 Only green LED 5 on To Keypad 215 Std 00 11 00 00 00 00 00 00 Green LED 1 and 5 on other LED oﬀ Red LED 2 and 7 on other LED oﬀ PKP 2600 Identiﬁer 200 current CAN ID Default 215h Byte 0 R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G4 G3 G2 G1 R12 R11 R10 R9 Green and Red LED Byte 2 G12 G11 G10 G9 G8 G7 G6 G5 Green LED...

Страница 10: ...nks To Keypad 315 Std 42 00 00 00 00 00 00 00 Only red LED 2 and 7 blink To Keypad 315 Std 80 00 00 00 00 00 00 00 Only red LED 8 blinks To Keypad 315 Std 00 10 00 00 00 00 00 00 Only green LED 5 blinks To Keypad 315 Std 00 11 00 00 00 00 00 00 Only green LED 1 and 5 blink PKP 2600 Identiﬁer 300 current CAN ID Default 315h Byte 0 R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G4 G3 G2 G1 R12 R11 R10 R9 Gr...

Страница 11: ... 0Ch 0Eh GREEN AMBER blink 0Eh Byte 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 01 08 01 00 Switch on LED 8 red Keypad Reply 595 Std 60 00 65 01 00 00 00 00 To Keypad 615 Std 23 00 65 01 01 09 04 00 Switch on LED 9 green Keypad Reply 595 Std 60 00 65 01 00 00 00 00 b Set LED brightness level 2h Identiﬁer 600h current CAN ID Default 615h Byte 0 23h Set Devi...

Страница 12: ...Byte 4 10h Command Set device active on startup Byte 5 XXh 00h Not active 01h Active Byte 6 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 10 01 00 00 Set device active on startup Keypad Reply 595 Std 60 00 65 01 00 00 00 00 e Set device baud rate 11h Identiﬁer 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 ...

Страница 13: ...te 3 01h Sub index Byte 4 13h Command Set Boot up service Byte 5 XXh 00h Not active 01h Active Byte 6 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 13 00 00 00 Set Boot up service not active Keypad Reply 595 Std 60 00 65 01 00 00 00 00 h Set CANopen node ID 70h Identiﬁer 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 65...

Страница 14: ... Byte 6 7 00h Not used Direction Identifier Format Message Message Data To Keypad 615 Std 23 00 65 01 7B 00 00 00 Backlight 0 at startup Keypad Reply 595 Std 60 00 65 01 00 00 00 00 k Set DEMO mode 7Ah Demo mode is a special feature that consist in diﬀerent LED states for each button pressing Disconnect and reconnect the keypad to enter this mode Identiﬁer 615h 600h current CAN ID Byte 0 23h Set D...

Страница 15: ...ED show Byte 5 XXh 01h Complete LED Show default 02h Amber fast ﬂash 03h Disable Byte 6 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 50 03 00 00 Startup LED show disable Keypad Reply 595 Std 60 00 65 01 00 00 00 00 Blink S r l Via Montefeltro 6 20156 Milano Italy Tel 39 02 3088583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com 15 FOR REFERENCE O...

Страница 16: ...d 43 00 60 00 07 00 00 00 Key 1 2 and 3 pressed 43 00 60 00 0F 00 00 00 All keys pressed PKP 2400 Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6000h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 40 00 60 00 00 00 00 00 Keypad reply 595 std 43 00 60 00 00 00 00 00 No key pressed 43...

Страница 17: ... 10 00 00 00 Key 5 pressed 43 00 60 00 20 00 00 00 Key 6 pressed 43 00 60 00 40 00 00 00 Key 7 pressed 43 00 60 00 80 00 00 00 Key 8 pressed 43 00 60 00 00 01 00 00 Key 9 pressed 43 00 60 00 00 02 00 00 Key 10 pressed 43 00 60 00 00 04 00 00 Key 11 pressed 43 00 60 00 00 08 00 00 Key 12 pressed 43 00 60 00 41 00 00 00 Key 1 and 7 pressed 43 00 60 00 10 04 00 00 Key 5 and 11 pressed 43 00 60 00 30 ...

Страница 18: ... 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 04 00 00 00 Set red LED 3 on Keypad Reply 595 Std 60 01 60 00 00 00 00 00 PKP 2400 Identiﬁer 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 XXh R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 5 YYh G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 6 7 00h Not used Direction ...

Страница 19: ...Reply 595 Std 60 01 60 00 00 00 00 00 b Read LED ON The LEDs have the same mapping of Set LED ON message PKP2200 Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Direction Identifier Format Message Data To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 0F 00 00 00 Al...

Страница 20: ...een LED on PKP 2600 Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Direction Identifier Format Message Data To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 0F 00 00 00 Red LED 1 2 3 and 4 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 ...

Страница 21: ...ks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 10 00 00 00 Only green LED 1 blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 PKP 2400 Identiﬁer 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 XXh R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 5 YYh G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 6 7 0...

Страница 22: ...Keypad 615 Std 23 02 60 00 00 00 05 00 Only green LED 5 and 7 blink Keypad Reply 595 Std 60 02 60 00 00 00 00 00 b Read LED blink PKP 2200 Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Direction Identifier Format Message Data Example Example Example To Keypad 615 Std 40 02 60 00 00 00 00 ...

Страница 23: ...00 00 01 00 00 Green LED 1 blink PKP 2600 Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Direction Identifier Format Message Data To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 00 00 01 00 Green LED 5 blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply ...

Страница 24: ...00 00 Heartbeat time 100ms To Keypad 615 Std 2B 17 10 00 00 00 00 00 Switch oﬀ the heartbeat Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 17 10 00 32 00 00 00 Set heartbeat time 50ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 17 10 00 F4 01 00 00 Set heartbeat time 500ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 18 OBJECT 1000H DEVICE TYPE Identiﬁer 6...

Страница 25: ...ce Register Next Byte Byte 1 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 40 08 10 00 00 00 00 00 Keypad Reply 595 Std 41 08 10 00 0B 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 44 4E 41 20 67 72 6F DNA Group To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 19 75 70 00 00 00 00 00 Manufacturer Device Name DNA Group The ﬁrst ...

Страница 26: ...vice Register third byte Byte 1 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad Reply 595 Std 41 09 10 00 0A 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 52 65 76 20 31 2E 30 Rev 1 0D To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 19 00 44 00 00 00 00 00 Manufacturer Hardware Revision Rev 1 0D Th...

Страница 27: ...rer Firmware Revision Rev 1 0R The ﬁrst byte of the last data message replied is 19h 22 OBJECT 100BH MODEL ID Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 0Bh CAN Object 100Bh Byte 2 10h Byte 3 7 00h Not used 1 additional byte Identiﬁer 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identiﬁer...

Страница 28: ...CAN Object 1018h Byte 2 10h Byte 3 01h Sub index Byte 4 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 01 00 00 00 00 Keypad Reply 595 Std 43 18 10 01 5A 03 00 00 000035Ah Vendor Id 000035Ah c Product code Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 02h Sub index Byte 4 7 00h Not used D...

Страница 29: ...1 Com Lib Rev Byte 2 HW Lib Rev Revision Number App revision 10h Com lib revision 16h HW lib revision 12h e Firmware checksum Identiﬁer 600h current CAN ID Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 18h Byte 3 04h Sub index Byte 4 7 00h Not used Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 04 00 00 00 00 Keypad Reply 595 Std 43 18 10 04 DE E5 2C 00 00...

Страница 30: ...cts 2 COB id 0000 0200h Inhibit Time 0000 0000h 25 OBJECT 1401H RECEIVE PDO COMMUNICATION PARM 1 Describes the Receive Parameters for the LED Blink States PDO Message Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 1401h Byte 2 14h Byte 3 XXh 00h Number of mapped objects 01h COB Id 03h Inhibit Time Byte 4 7 00h Not used Direction Identifier Format M...

Страница 31: ...5 Std 40 00 16 00 00 00 00 00 Keypad Reply 595 Std 4F 00 16 00 02 00 00 00 2 To Keypad 615 Std 40 00 16 01 00 00 00 00 Keypad Reply 595 Std 43 00 16 01 20 00 01 60 6001 00 20h To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad Reply 595 Std 43 00 16 02 20 00 02 60 6002 00 20h Output descriptions Number of mapped objects 2 Sets LED output Object 6001h Sub index 00h Length 20h Sets LED blink Object 60...

Страница 32: ... 18 03 00 00 00 00 Keypad Reply 595 Std 4B 00 18 03 00 00 00 00 0 To Keypad 615 Std 40 00 18 05 00 00 00 00 Keypad Reply 595 Std 4B 00 18 05 00 00 00 00 0 Transmitt PDO communication parm 0 Number of mapped objects 2 Address base 180h Transmission RTR only Inhibit Time 0 0 Event timer OFF 28 OBJECT 1A00H INPUTS DESCRIPTION Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register ...

Страница 33: ... 00 Keypad Reply 595 Std 40 00 61 02 08 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 50 4B 50 32 36 30 30 PKP2600 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 1D 00 00 00 00 00 00 00 Number of mapped objects 2 serial number 00000000h Model ID PKP2600 Sub Index 02h needs 2 additional byte Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Devi...

Страница 34: ...efault To Keypad 615 Std 40 01 62 02 00 00 00 00 Keypad Reply 595 Std 4F 01 62 02 00 00 00 00 0h default b Set brightness level See also section 11b and 11c Identiﬁer 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 01h CAN Object 6201h Byte 2 62h Byte 3 XXh 01h Key LED brightness level 02h Back light brightness level Byte 4 00 3Fh 0 100 Byte 5 7 00h Not used Direction Identi...

Страница 35: ... 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 30 30 30 30 30 30 00 000000 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 1D 00 00 00 00 00 00 00 Serial number ascii 000000 32 OBJECT 6301H BOOTLOADER PRESENCE Identiﬁer 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6301h Byte 2 63h Byte 3 7 00h Not used Direction ...

Страница 36: ...00 00 00 2 To Keypad 615 Std 40 02 63 01 00 00 00 00 Keypad Reply 595 Std 4F 02 63 01 0F 00 00 00 0Fh To Keypad 615 Std 40 02 63 02 00 00 00 00 Keypad Reply 595 Std 4F 02 63 02 03 00 00 00 3h To Keypad 615 Std 40 02 63 03 00 00 00 00 Keypad Reply 595 Std 4F 02 63 03 1E 00 00 00 1Eh To Keypad 615 Std 40 02 63 04 00 00 00 00 Keypad Reply 595 Std 4F 02 63 04 06 00 00 00 06h PKP2600 key and LED count ...

Страница 37: ...Check for updates on www blinkmarine com download Blink S r l Via Montefeltro 6 20156 Milano Italy Tel 39 02 3088583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com 37 ...

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